version: 66.13
glider: 228
mission: 14
dive: 112
start: 10 5 118 13 41 33
data:
$ID,228
$MISSION,14
$DIVE,112
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,200
$T_MISSION,240
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72009
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0025631799
$HD_B,0.0154106
$HD_C,6.0999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7545
$TGT_DEFAULT_LON,-15041
$TGT_AUTO_DEFAULT,0
$SM_CC,653.96979
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3810
$C_PITCH,2330
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,46
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3950
$ROLL_DEG,80
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.047120001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2854
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,4
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,575
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-148.83669
$PRESSURE_SLOPE,0.0001081732
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.8
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,1123
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044279573
$SEABIRD_T_H,0.000658612
$SEABIRD_T_I,2.7901522e-05
$SEABIRD_T_J,3.4987197e-06
$SEABIRD_C_G,-9.9235325
$SEABIRD_C_H,1.1433685
$SEABIRD_C_I,-0.0023654797
$SEABIRD_C_J,0.00025343007
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,051018,133142,7347.5347,-14704.2412,32,1.2,36,18.2,0.1,0.0,5,5.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.43
$_SM_ANGLEo,-75.8
$GPS2,051018,134056,7347.5732,-14704.2988,4,1.2,5,18.2,0.2,0.0,5,9.8
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,183.8,21560,-22.0,-10.000,-29.22,1661
$D_GRID,600
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.92,-146.0,198,2405,466,529,0.0,0.0,0,73,0.00,0.00,-61.45,0.003,16386,0.000,0.000,198,2404,1737,1839,1635,0,0,0,0,0,0,14.46,28.83,14.48
$GC,76,-0.92,-146.0,199,2406,1841,1638,2.7,-9.7,6,126,9.62,5.00,-33.08,0.005,18948,0.458,0.071,2048,711,3452,3579,3326,0,0,0,0,0,0,14.07,13.48,14.32
$GC,276,-0.92,-146.0,2046,712,3579,3329,73.2,-23.1,45,283,0.00,4.97,0.00,0.000,1030,0.000,0.060,2027,2395,3453,3578,3328,0,0,0,0,0,0,14.39,14.32,14.40
$GC,461,-0.92,-146.0,2028,2397,3578,3329,113.1,-19.5,64,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2396,3452,3577,3328,0,0,0,0,0,0,14.57,14.59,14.58
$GC,641,-0.92,-146.0,2028,2397,3577,3329,148.5,-20.2,82,652,0.00,4.72,0.00,0.000,260,0.000,0.091,2007,3953,3453,3576,3330,0,0,0,0,0,0,14.61,14.42,14.62
$GC,662,-0.92,-146.0,2008,3954,3575,3332,152.9,-21.1,86,673,0.00,4.45,0.00,0.000,1030,0.000,0.044,2024,2398,3452,3573,3332,0,0,0,0,0,0,14.52,14.46,14.53
$GC,852,-0.92,-146.0,2024,2399,3573,3332,189.3,-18.3,106,863,0.00,4.90,0.00,0.000,516,0.000,0.066,2028,712,3451,3572,3331,0,0,0,0,0,0,14.64,14.46,14.66
$GC,893,-0.92,-146.0,2028,712,3574,3332,197.2,-19.3,114,904,0.00,4.93,0.00,0.000,1030,0.000,0.058,2009,2402,3452,3573,3332,0,0,0,0,0,0,14.55,14.47,14.57
$GC,1083,-0.92,-146.0,2009,2403,3574,3333,229.9,-15.2,134,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2402,3452,3572,3332,0,0,0,0,0,0,14.68,14.69,14.69
$GC,1263,-0.92,-146.0,2009,2403,3574,3332,256.5,-13.4,150,1273,0.00,4.65,0.00,0.000,260,0.000,0.089,1990,3949,3452,3572,3332,0,0,0,0,0,0,14.70,14.50,14.72
$GC,1303,-0.92,-146.0,1989,3950,3568,3336,262.5,-15.7,158,1309,0.00,4.43,0.00,0.000,1030,0.000,0.042,2005,2395,3450,3565,3336,0,0,0,0,0,0,14.61,14.54,14.62
$GC,1624,-0.92,-146.0,2005,2395,3570,3337,304.2,-12.4,177,1633,0.00,4.88,0.00,0.000,516,0.000,0.065,2011,705,3452,3568,3336,0,0,0,0,0,0,14.74,14.56,14.76
$GC,1694,-0.92,-146.0,2012,705,3569,3338,313.5,-13.7,191,1706,0.17,4.93,0.00,0.000,3078,0.324,0.056,2026,2408,3452,3567,3337,0,0,0,0,0,0,14.42,14.57,14.62
$GC,2004,-0.92,-146.0,2025,2408,3568,3337,349.7,-11.4,208,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2408,3452,3568,3337,0,0,0,0,0,0,14.78,14.80,14.80
$GC,2304,-0.92,-146.0,2026,2408,3568,3337,383.4,-11.1,223,2314,0.00,4.93,0.00,0.000,516,0.000,0.066,2028,706,3452,3567,3337,0,0,0,0,0,0,14.80,14.61,14.82
$GC,2324,-0.92,-146.0,2029,707,3568,3337,385.8,-11.9,227,2335,0.00,4.88,0.00,0.000,1030,0.000,0.057,2009,2401,3452,3567,3337,0,0,0,0,0,0,14.69,14.61,14.70
$GC,2645,-0.92,-146.0,2009,2402,3567,3337,424.5,-11.8,246,2655,0.00,4.85,0.00,0.000,516,0.000,0.063,2011,712,3451,3567,3336,0,0,0,0,0,0,14.81,14.62,14.83
$GC,2680,-0.92,-146.0,2011,713,3568,3338,428.8,-13.2,253,2687,0.17,4.88,0.00,0.000,3078,0.317,0.057,2027,2407,3451,3566,3337,0,0,0,0,0,0,14.48,14.62,14.67
$GC,2985,-0.92,-146.0,2027,2408,3568,3338,462.3,-10.8,269,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2407,3451,3566,3337,0,0,0,0,0,0,14.83,14.85,14.84
$GC,3285,-0.92,-146.0,2027,2407,3568,3338,494.2,-10.5,284,3291,0.00,4.88,0.00,0.000,516,0.000,0.067,2028,711,3451,3566,3337,0,0,0,0,0,0,14.84,14.64,14.85
$GC,3336,-0.92,-146.0,2029,712,3567,3338,500.1,-11.8,294,3347,0.00,4.85,0.00,0.000,1030,0.000,0.055,2009,2405,3451,3566,3337,0,0,0,0,0,0,14.73,14.65,14.74
$GC,3646,-0.92,-146.0,2009,2406,3568,3338,535.3,-11.4,311,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2405,3451,3566,3337,0,0,0,0,0,0,14.85,14.88,14.87
$GC,3947,-0.92,-146.0,2009,2403,3568,3338,568.9,-11.1,326,3956,0.00,4.88,0.00,0.000,516,0.000,0.064,2011,705,3452,3566,3338,0,0,0,0,0,0,14.87,14.67,14.88
$GC,3971,-0.92,-146.0,2012,705,3567,3338,571.9,-12.3,331,3983,0.17,4.85,0.00,0.000,3078,0.319,0.053,2027,2404,3452,3566,3338,0,0,0,0,0,0,14.53,14.67,14.72
$STATE,4246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4246,begin apogee
$GC,4252,-0.11,0.0,2030,2185,3567,3339,600.6,-10.2,347,4391,1.00,0.05,136.52,2.131,10246,0.280,0.210,2289,2210,2853,2928,2778,0,0,0,0,0,0,14.56,13.93,13.24
$STATE,4392,end apogee,CONTROL_FINISHED_OK
$STATE,4392,begin climb
$GC,4395,0.92,146.0,2289,2211,2926,2777,602.6,0.0,354,4539,1.12,0.00,139.73,2.033,10246,0.158,0.000,2618,2210,2258,2279,2237,0,0,0,0,0,0,13.92,13.75,13.05
$GC,4828,0.92,146.0,2618,2210,2274,2219,525.0,20.5,376,4835,0.00,5.05,0.00,0.000,516,0.000,0.070,2639,524,2245,2273,2217,0,0,0,0,0,0,14.35,14.17,14.37
$GC,4844,0.92,146.0,2638,524,2270,2219,521.6,20.5,379,4851,0.00,4.93,0.00,0.000,1030,0.000,0.050,2632,2199,2244,2270,2218,0,0,0,0,0,0,14.24,14.18,14.26
$GC,5150,0.92,146.0,2631,2199,2270,2216,456.3,21.2,395,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2199,2242,2269,2215,0,0,0,0,0,0,14.52,14.54,14.54
$GC,5450,0.92,146.0,2631,2200,2270,2214,393.4,20.9,410,5451,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2199,2242,2270,2214,0,0,0,0,0,0,14.62,14.64,14.63
$GC,5750,0.92,146.0,2631,2199,2270,2213,332.9,19.9,425,5760,0.00,4.93,0.00,0.000,516,0.000,0.071,2651,522,2241,2271,2212,0,0,0,0,0,0,14.68,14.49,14.69
$GC,5775,0.92,146.0,2652,523,2271,2213,327.6,21.3,430,5784,0.00,4.82,0.00,0.000,1030,0.000,0.053,2645,2201,2240,2270,2211,0,0,0,0,0,0,14.56,14.49,14.57
$GC,6090,0.92,146.0,2647,2201,2272,2211,265.1,18.9,448,6091,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2201,2240,2270,2210,0,0,0,0,0,0,14.72,14.76,14.73
$GC,6392,0.92,146.0,2646,2201,2273,2211,218.6,13.5,473,6392,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2201,2240,2271,2209,0,0,0,0,0,0,14.73,14.76,14.75
$GC,6570,0.92,146.0,2646,2201,2273,2210,199.4,10.4,491,6575,0.00,4.90,0.00,0.000,516,0.000,0.070,2665,525,2240,2272,2208,0,0,0,0,0,0,14.75,14.56,14.77
$GC,6650,0.92,146.0,2665,525,2269,2209,191.0,10.0,507,6663,0.15,4.80,0.00,0.000,5126,0.343,0.049,2633,2210,2239,2271,2208,0,0,0,0,0,0,14.43,14.59,14.63
$GC,6842,0.99,146.0,2633,2212,2272,2207,175.6,7.5,527,6853,0.00,4.97,0.00,0.000,324,0.000,0.085,2633,3886,2239,2268,2210,0,0,0,0,0,0,14.76,14.55,14.77
$GC,6868,1.03,146.0,2635,3887,2273,2211,173.3,8.8,532,6877,0.00,4.75,0.00,0.000,1094,0.000,0.042,2652,2205,2239,2268,2210,0,0,0,0,0,0,14.66,14.61,14.68
$GC,7054,1.10,146.0,2652,2204,2270,2208,159.1,7.6,551,7065,0.00,4.90,0.00,0.000,580,0.000,0.067,2674,508,2238,2269,2208,0,0,0,0,0,0,14.77,14.57,14.79
$GC,7130,1.16,146.0,2675,509,2270,2208,153.1,8.1,566,7137,0.00,4.85,0.00,0.000,1094,0.000,0.049,2673,2208,2238,2269,2207,0,0,0,0,0,0,14.66,14.61,14.69
$GC,7315,1.35,210.9,2672,2208,2270,2205,141.0,6.0,585,7383,0.28,4.93,55.50,1.624,10788,0.153,0.066,2783,516,1988,2016,1961,0,0,0,0,0,0,14.55,14.23,13.72
$GC,7433,1.35,210.9,2782,517,2013,1960,128.6,14.4,607,7445,0.00,4.88,0.00,0.000,1030,0.000,0.047,2769,2200,1985,2013,1957,0,0,0,0,0,0,14.42,14.35,14.43
$GC,7623,1.35,210.9,2769,2200,2014,1951,105.2,10.8,627,7635,0.00,5.12,0.00,0.000,260,0.000,0.083,2769,3895,1981,2009,1954,0,0,0,0,0,0,14.58,14.39,14.59
$GC,7752,1.35,210.9,2770,3896,2008,1955,88.5,13.4,652,7759,0.00,4.88,0.00,0.000,1030,0.000,0.046,2789,2202,1981,2008,1954,0,0,0,0,0,0,14.50,14.44,14.51
$GC,7935,1.61,295.1,2789,2203,2009,1950,75.8,4.8,671,8017,0.17,5.12,71.50,1.528,10788,0.172,0.069,2860,507,1646,1675,1617,0,0,0,0,0,0,14.40,14.14,13.59
$GC,8044,1.64,295.1,2861,508,1670,1619,69.5,8.9,689,8055,0.00,4.93,0.00,0.000,1094,0.000,0.047,2851,2200,1642,1669,1616,0,0,0,0,0,0,14.23,14.18,14.24
$GC,8233,1.74,295.1,2851,2200,1669,1608,54.4,6.6,709,8244,0.12,5.10,0.00,0.000,2372,0.179,0.077,2878,3891,1637,1666,1608,0,0,0,0,0,0,14.26,14.28,14.32
$GC,8475,2.22,454.9,2879,3892,1664,1610,53.1,0.1,756,8618,0.47,4.88,129.95,1.463,11302,0.144,0.037,3042,2182,995,997,993,0,0,0,0,0,0,14.28,14.36,13.38
$GC,8803,2.58,573.7,3040,2182,992,980,25.8,2.6,801,8907,0.35,5.40,95.07,1.395,10532,0.137,0.080,3138,3894,510,481,539,0,0,0,0,0,0,14.11,13.87,13.37
$GC,8962,2.58,573.7,3138,3896,479,538,13.1,15.8,831,8974,0.00,5.03,0.00,0.000,1030,0.000,0.045,3158,2214,507,479,535,0,0,0,0,0,0,14.05,14.00,14.05
$STATE,9050,end climb,SURFACE_DEPTH_REACHED
$STATE,9050,begin surface coast
$FINISH,0.3,1.020570
$STATE,9060,end surface coast,CONTROL_FINISHED_OK
$STATE,9060,begin surface
$SM_CCo,9080,47.17,0.320,1,0,499,577.44
$SM_CCo,9135,-0.15,0.582,0,0,501,577.68
$SM_CCo,9138,31.48,0.279,0,0,500,577.44
$SM_GC,-1.64,10.70,0.57,31.48,0.211,0.067,0.279,203,2404,500,-6.62,-0.85,577.44,0,0,0,0,0,0,14.07,14.12,13.99
$RAFOS_CLK,62
$RAFOS_FIX,7346.609375,-14703.926758,051018,161620,0,1,0.20
$IRIDIUM_FIX,7347.45,-14709.87,051018,133425
$TT8_MAMPS,0.078645,0.851613
$HUMID,45.70
$INTERNAL_PRESSURE,8.89012
$TCM_TEMP,14.60
$XPDR_PINGS,20
$ALTIM_TOP_PING,20.0,6.5
$24V_AH,13.05,53.854
$10V_AH,13.23,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,24.525,187.175,628.275,78.650,0.000,0.000,0.000,336.225,5.250,0.000,15.738,0.000,6576.531,940.548,1994.288,226.676,0.000,1995.780,0.000,1209.030,2216.000,2.511,0.000
$DEVICE_MAMPS,458.235,210.375,2130.525,319.770,0.000,0.000,0.000,185.895,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9072.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.328,0.000,0.000,0.000
$MEM,334516
$DATA_FILE_SIZE,30044,842
$CAP_FILE_SIZE,102111,0
$CFSIZE,2097872896,2075328512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1447.7
$WARN,PPS timeout
$CURRENT,0.043,354.42,1
$GPS,051018,161610,7346.823,-14705.497,63,1.1,64,18.2,0.6,227.3,8,6.0